#include "control.h"

void first_control(void)
{
  	 if((ccd_data_01[0]==0&&ccd_data_01[32]==0&&ccd_data_01[63]==0&&ccd_data_01[96]==0&&ccd_data_01[127]==0)||(ccd_data_01[0]==1&&ccd_data_01[32]==1&&ccd_data_01[63]==1&&ccd_data_01[96]==1&&ccd_data_01[127]==1))
	{
	      left1_Speed=0;right1_Speed=0;
	
	}
  else{left1_Speed=120;right1_Speed=120;  }                                                     
   turn_pid();
	 left_speed_pd();
	 right_speed_pd();
	 motor_speed(out_left_Speed,out_right_Speed);


}